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NASA NTRS2002

On the validity of the double integrator approximation in deep space formation flying

Free-flying models are commonly used f o r path planning and open loop control design (i. e., guidance design) and translational feedback control design (i. e., control design) for deep space precision formation flying. The free flying model, essentially a double integrator, results from discarding small terms in the relative spacecraft equations of motion. While the magnitude of these discarded terms may be small, one must show that their dynamic effects are small as compared to the precision performance requirements. We do so by deriving a theoretical method for bounding the difference between the solution of a nonlinear truth model of the relative translational spacecraft dynamics and a Simplified linear time-invariant model. Presently, the method incorporates feedforward and static output feedback control. The method is applied to a Terrestrial Planet Finder- based example. Using only feedforward control (guidance) the free-flying model and a Hill- Clohessy- Wiltshire Equations-based model are shown to be accurate to 1 c m for up to 4 and 30 hours, respectively. Also shown is that the simplest free-flying model may not be sufficient for low-gain feedback control design-closed-loop tracking errors can be as large as 8 meters.

formation flying free flying model double integrat↗
NASA NTRS2004

Flying the Earth Observing Constellations

Prior to the launch of the Earth Observing System (EOS) Terra and Landsat-7 satellites in 1999, the Project Scientists for the two missions and the Earth Science Data and Information System (ESDIS) Project at the Goddard Space Flight Center signed an inter-project agreement document describing their plan to fly in loose formation, approximately 20 minutes within each other. In November 2000, a technology demonstration satellite, Earth Observer-1 (EO-1), was launched into the same orbit as that of Landsat-7 and Terra, with a goal of flying within a minute from Landsat-7. The SAC-C satellite, developed and operated by the government of Argentina, was launched along with EO-1, with a goal of flying near both Terra and Landsat-7. This formation enables the scientists to make use of the scientific synergy among the instruments on the different spacecraft. This group of satellites constitutes the morning constellation, which is led by the Landsat-7, which has a mean local time (MLT) at 10:00 a.m. In May 2002, the EOS Aqua satellite was launched into an orbit with an altitude of 705 km. and a 1:30 p.m. MLT. Two smaller satellites, CALIPSO (a joint U.S./French mission), and CloudSat (a joint NASA/Colorado State University/Air Force mission), plan to fly in tight formation, within 15 seconds of each other. In addition, CALIPSO and CloudSat also plan to be within 30 to 60 seconds of the Aqua satellite. A third satellite, PARASOL, managed by the French Space Agency, CNES, will be placed within a minute of the CALIPSO satellite. In 2004, the Aura satellite will be launched and phased in relation to the Aqua satellite, such that the instruments on Aura will be able to view the same mass of air no later than 8 minutes after the instruments on Aqua have observed it. Representatives from each mission are currently documenting a plan on how they will coordinate on-orbit operations. Why are all these satellites planning to fly as a constellation? The answer is that as a constellation. the scientists will be able to acquire science data not only from their specific instruments on a single satellite, but science data from the other satellites which will have been taken at approximately the same time, thus resulting in coordinated science observation data. This leads to better quality science. This paper describes how the mission design has been driven by the science requirements. The morning and the afternoon constellations present operational challenges, which had not previously been encountered. Operations planning must address not only how the satellites of each constellation operate safely together, but also, how the two constellations fly on the same orbits without interfering with each other as they downlink data to their respective ground stations. This paper describes the operations experience gained from the morning constellation and the planning for the afternoon constellation.

Kelly, Angelita C.↗
NASA NTRS2003

Investigation of Space Interferometer Control Using Imaging Sensor Output Feedback

Numerous space interferometry missions are planned for the next decade to verify different enabling technologies towards very-long-baseline interferometry to achieve high-resolution imaging and high-precision measurements. These objectives will require coordinated formations of spacecraft separately carrying optical elements comprising the interferometer. High-precision sensing and control of the spacecraft and the interferometer-component payloads are necessary to deliver sub-wavelength accuracy to achieve the scientific objectives. For these missions, the primary scientific product of interferometer measurements may be the only source of data available at the precision required to maintain the spacecraft and interferometer-component formation. A concept is studied for detecting the interferometer's optical configuration errors based on information extracted from the interferometer sensor output. It enables precision control of the optical components, and, in cases of space interferometers requiring formation flight of spacecraft that comprise the elements of a distributed instrument, it enables the control of the formation flying vehicles because independent navigation or ranging sensors cannot deliver the high-precision metrology over the entire required geometry. Since the concept can act on the quality of the interferometer output directly, it can detect errors outside the capability of traditional metrology instruments, and provide the means needed to augment the traditional instrumentation to enable enhanced performance. Specific analyses performed in this study include the application of signal-processing and image-processing techniques to solve the problems of interferometer aperture baseline control, interferometer pointing, and orientation of multiple interferometer aperture pairs.

Cheng, Victore H. L.↗
NASA NTRS2003

Nonlinear Observers for Gyro Calibration

High precision estimation and control algorithms, to achieve unprecedented levels of pointing accuracy, will be required to support future formation flying missions such as interferometry missions. Achieving high pointing accuracy requires precise knowledge of the spacecraft rotation rate. Typically, the rotation rate is measured by a gyro. The measured rates can be corrupted by errors in alignment and scale factor, gyro biases, and noise. In this work, we present nonlinear observers for gyro calibration. Nonlinear observers are superior to extended or pseudo-linear Kalman filter type approaches for large errors and global stability. Three nonlinear gyro calibration observers are developed. The first observer estimates a constant gyro bias. The second observer estimates scale factor errors. The third observer estimates the gyro alignment for three orthogonal gyros. The convergence properties of all three observers are discussed. Additionally, all three observers are coupled with a nonlinear control algorithm. The stability of each of the resulting closed loop systems is analyzed. The observers are then combined, and the gyro calibration parameters are estimated simultaneously. The stability of the combined observers is addressed, as well as the stability of the resulting closed loop systems. Simulated test results are presented for each scenario. Finally, the nonlinear observers are compared to a pseudo-linear Kalman filter.

Thienel, Julie↗
NASA NTRS2021

A Spectrum Sensor for CubeSat Radios

Cube satellite (CubeSat) launches have increased exponentially over the last 20 years. This class of miniature spacecraft is well-suited for a set of nonconventional satellite architectures collectively known as formation flying. With the exponential pace of launches expected to continue, the prospect of spectrum management for these complex formations arises. In previous work, investigators focus on terrestrial applications of spectrum sensing, which have the luxury to utilize hardware with high size, weight, and power (SWaP) resources. In this work, we develop and test a spectrum sensor for CubeSat radio applications. Given that CubeSat radios are inherently designed for low SWaP, they cannot implement the computationally expensive spectral correlation analyzer (SCA) algorithms for signal detection. To that end, our investigation focuses on the application of the SCA to square-root-raised-cosine (SRRC) pulse-shaped quadrature amplitude modulation (QAM) waveforms using a field-programmable gate array (FPGA). This model requires no prior knowledge of the radio-frequency (RF) channel. We show that this model can consistently and accurately detect the symbol rate and center frequencies of waveforms located in a spectrum.

cubesat↗
NASA NTRS2024

Smallsat 2024 - Starling Cubesat Swarm Technology Demonstration Flight Results

The Starling swarm of four 6U CubeSats launched in July 2023 to test four key technologies to enable future swarm missions: 1) Mobile Ad-Hoc Networking (MANET) over a crosslink radio network 2) Autonomous onboard decision-making for operations 3) Optical-based absolute and relative navigation 4) Autonomous maneuver planning and execution The Starling team implemented the Better Approach to Mobile Ad-hoc Networking (B.A.T.M.A.N.) protocol to automatically manage the crosslink network of four satellites. The B.A.T.M.A.N. protocol uses a decentralized approach to managing a multi-hop mesh network of devices, in this case, a satellite swarm. The four satellites were able to successfully establish a network at multiple data rates and demonstrate file transfer and command issuance between spacecraft over the network. Starling incorporated Distributed Spacecraft Autonomy's (DSA) software to demonstrate onboard decision-making. The DSA software takes L1/L2 band GPS measurements and uses them to estimate the relative Total Electron Count (TEC) in the ionosphere. The onboard software then determines if there are any features of interest and provides that information to the other satellites over the crosslink network. The swarm of satellites then reaches a consensus on the optimal TEC observation strategy and adjusts its measurement collection tactics autonomously. The Starling Formation-Flying Optical Experiment (StarFOX), produced by Stanford's Space Rendezvous Laboratory, uses the onboard star trackers to collect images of the other swarm spacecraft and produce angles-only navigation estimates. This system is envisioned to be valuable in applications in which Global Navigation Satellite Systems (GNSS) are not available, such as in cis-lunar or deep space. StarFOX successfully applied its algorithms to multiple simultaneous spacecraft targets using the star tracker imagery. Finally, Starling used Emergent Space's Cluster Flight Application (CFA) software suite for the Reconfiguration and Orbit Maintenance Experiments Onboard (ROMEO) demonstration of autonomously planning and executing propulsive maneuvers. Large swarms will need to be able to maintain formation requirements with minimal operator involvement, especially as the size of the swarm scales up. Results from the ROMEO experiment are presented. Starling is funded by the Small Spacecraft Technology (SST) program out of NASA's Space Technology Mission Directorate (STMD).

distributed systems↗
NASA NTRS2004

ORION-II: A True Formation Flying Mission in LEO

The final report for the Orion-II project is taken from Chapter 5 of "CDGPS-Based Relative Navigation for Multiple Spacecraft," a thesis by Megan Mitchell submitted to the MIT Department of Aeronautics and Astronautics, June 2004. This chapter begins with a comparison of the simulation architecture for the original and current simulation setups. Next, the changes made to the individual components of the navigation system are described. Finally, tests performed with a Spirent Simulator at NASA Goddard Space Flight Center (GSFC) are discussed. In addition to the development of the testbed components described, a new clean room facility was developed in the Orion Laboratory at MIT.

How, Jonathan P.↗
NASA NTRS2003

Investigation of Space Interferometer Control Using Imaging Sensor Output Feedback

Numerous space interferometry missions are planned for the next decade to verify different enabling technologies towards very-long-baseline interferometry to achieve high-resolution imaging and high-precision measurements. These objectives will require coordinated formations of spacecraft separately carrying optical elements comprising the interferometer. High-precision sensing and control of the spacecraft and the interferometer-component payloads are necessary to deliver sub-wavelength accuracy to achieve the scientific objectives. For these missions, the primary scientific product of interferometer measurements may be the only source of data available at the precision required to maintain the spacecraft and interferometer-component formation. A concept is studied for detecting the interferometer's optical configuration errors based on information extracted from the interferometer sensor output. It enables precision control of the optical components, and, in cases of space interferometers requiring formation flight of spacecraft that comprise the elements of a distributed instrument, it enables the control of the formation-flying vehicles because independent navigation or ranging sensors cannot deliver the high-precision metrology over the entire required geometry. Since the concept can act on the quality of the interferometer output directly, it can detect errors outside the capability of traditional metrology instruments, and provide the means needed to augment the traditional instrumentation to enable enhanced performance. Specific analyses performed in this study include the application of signal-processing and image-processing techniques to solve the problems of interferometer aperture baseline control, interferometer pointing, and orientation of multiple interferometer aperture pairs.

Leitner, Jesse A.↗
NASA NTRS2015

Kalman Filter for Mass Property and Thrust Identification (MMS)

The Magnetospheric Multiscale (MMS) mission consists of four identically instrumented, spin-stabilized observatories, elliptically orbiting the Earth in a tetrahedron formation. For the operational success of the mission, on-board systems must be able to deliver high-precision orbital adjustment maneuvers. On MMS, this is accomplished using feedback from on-board star sensors in tandem with accelerometers whose measurements are dynamically corrected for errors associated with a spinning platform. In order to determine the required corrections to the measured acceleration, precise estimates of attitude, rate, and mass-properties is necessary. To this end, both an on-board and ground-based Multiplicative Extended Kalman Filter (MEKF) were formulated and implemented in order to estimate the dynamic and quasi-static properties of the spacecraft.

Maneuver and Attitude Dynamics↗
NASA NTRS2011

Comparison of Magnetospheric MultiScale (MMS) Formation Design Algorithms

The MMS mission consists of four identical spinning spacecraft in a tetrahedron-like formation during predefined orbital regions-of-interest [1]. The MMS formation will fly about a highly eccentric orbit to study magnetic reconnection in the Earth.s magnetosphere. The mission is divided in two main science phases of markedly different orbit size. Phase 1 is a 1.2 R(sub E) x 12 R(sub E) (R(sub E) equals one Earth radius) orbit phase where science will be performed on the day-side of the magnetosphere, and Phase 2 is a 1.2 R(sub E) x 25 R(sub E) orbit phase where science will be performed on the night-side of the magnetosphere. For each phase, the MMS formation initially will fly a series of tetrahedron sizes ranging between 10-km and 400-km to assist the science team in determining the best value for the remainder of the phase. This paper presents a preliminary comparison of the algorithms currently available to determine desired MMS formation states. After a brief description of the MMS formation flying metrics and associated requirements, the five formation design algorithm combinations considered here are presented. Monte Carlo simulations determine the performance of each algorithm defined in terms of formation lifetime and fuel consumption. Preliminary results focusing on the smaller formation size for Phase 1 are discussed and the conclusions are presented along with indications for future work.

Mann, L.↗
NASA NTRS2021

The Sun Radio Interferometer Space Experiment (SunRISE) Mission

The Sun Radio Interferometer Space Experiment (SunRISE) will provide an entirely new view on particle acceleration and transport in the inner heliosphere by creating the first low radio frequency interferometer in space to localize heliospheric radio emissions. By imaging and determining the location of decametric-hectometric (DH) radio bursts from 0.1 MHz–25 MHz, SunRISE will provide key information on particle acceleration mechanisms associated with coronal mass ejections (CMEs) and the magnetic field topology from active regions into interplanetary space. Six small spacecraft, of a 6U form factor, will fly in a supersynchronous geosynchronous Earth orbit (GEO) orbit within about 10 km of each other, in a passive formation, and image the Sun in a portion of the spectrum that is blocked by the ionosphere and cannot be observed from Earth. Key aspects that enable this mission are that only position knowledge of the spacecraft is required, not active control, and that the architecture involves a modest amount of on-board processing coupled with significant ground-based processing for navigation, position determination, and science operations. Mission-enabling advances in software-defined radios, GPS navigation and timing, and small spacecraft technologies, developed and flown on the DARPA High Frequency Research (DHFR), the Community Initiative for Continuing Earth Radio Occultation (CICERO), and the Mars Cube One (MarCO) missions, have made this mission affordable and low-risk. The SunRISE mission will involve utilizing commercial access to space, in which the SunRISE spacecraft will be carried to their target orbit as a secondary payload in conjunction with a larger host spacecraft intended for GEO.

Neilson, Tim↗
NASA NTRS2003

Autonomous Sciencecraft Experiment (ASE) Test Operations in 2003

NASA has identified the development of an autonomously operating spacecraft as a necessity for an expanded program of missions exploring the Solar System. The Autonomous Sciencecraft Experiment (ASE) has been selected for flight demonstration by NASA s New Millennium Program (NMP) as part of the Space Technology 6 (ST6) mission. ASE is scheduled to fly on the US Air Force Research Laboratory (AFRL) Techsat-21 constellation in 2006. Tech- Sat-21 consists of three satellites flying in a variable-geometry formation in Earth orbit. Each satellite is equipped with X-band Synthetic Aperture Radar, yielding high spatial resolution images (approx. 3 m) of the Earth s surface. The constellation will fly at an altitude of 550 km, in a 35.4 inclination circular orbit, yielding exact repeat-track observations every 13 days. Prior to full deployment, elements of the versatile ASE spacecraft command and control software, image formation software and science processing software will be utilized and tested on two very different platforms in 2003: AirSAR and EO-1 (described below). Advantages of Autonomous Operations: ASE will demonstrate advanced autonomous science data acquisition, processing, and product downlink prioritization, as well as autonomous spacecraft command and control, and fault detection. The advantages of spacecraft autonomy are to future missions include: (a) making the best use of reduced downlink; (b) the overcoming of communication delays through decisionmaking in situ, enabling fast reaction to dynamic events; (c) an increase of science content per byte of returned data; and (d) an avoidance of return of null (no-change/no feature) datasets: if there is no change detectable between two scenes of the same target, there is no need to return the second dataset.

Chien, S.↗
NASA NTRS2005

Decentralized Formation Flying Control in a Multiple-Team Hierarchy

This paper presents the prototype of a system that addresses these objectives-a decentralized guidance and control system that is distributed across spacecraft using a multiple-team framework. The objective is to divide large clusters into teams of manageable size, so that the communication and computational demands driven by N decentralized units are related to the number of satellites in a team rather than the entire cluster. The system is designed to provide a high-level of autonomy, to support clusters with large numbers of satellites, to enable the number of spacecraft in the cluster to change post-launch, and to provide for on-orbit software modification. The distributed guidance and control system will be implemented in an object-oriented style using MANTA (Messaging Architecture for Networking and Threaded Applications). In this architecture, tasks may be remotely added, removed or replaced post-launch to increase mission flexibility and robustness. This built-in adaptability will allow software modifications to be made on-orbit in a robust manner. The prototype system, which is implemented in MATLAB, emulates the object-oriented and message-passing features of the MANTA software. In this paper, the multiple-team organization of the cluster is described, and the modular software architecture is presented. The relative dynamics in eccentric reference orbits is reviewed, and families of periodic, relative trajectories are identified, expressed as sets of static geometric parameters. The guidance law design is presented, and an example reconfiguration scenario is used to illustrate the distributed process of assigning geometric goals to the cluster. Next, a decentralized maneuver planning approach is presented that utilizes linear-programming methods to enact reconfiguration and coarse formation keeping maneuvers. Finally, a method for performing online collision avoidance is discussed, and an example is provided to gauge its performance.

Mueller, Joseph .↗
NASA NTRS2019

A Realistic Roadmap to Formation Flying Space Interferometry

The ultimate astronomical observatory would be a formation flying interferometer in space, immune to atmospheric turbulence and absorption, free from atmospheric and telescope thermal emission, and reconfigurable to adjust baselines according to the required angular resolution. Imagine the near/mid-infrared sensitivity of the JWST and the far-IR sensitivity of Herschel but with ALMA-level angular resolution, or imagine having the precision control to null host star light across 250m baselines and to detect molecules from the atmospheres of nearby exo-Earths. With no practical engineering limit to the formation’s size or number of telescopes in the array, formation flying interferometry will revolutionize astronomy and this White Paper makes the case that it is now time to accelerate investments in this technological area. Here we provide a brief overview of the required technologies needed to allow light to be collected and interfered using separate spacecrafts. We emphasize the emerging role of inexpensive smallSat projects and the excitement for the LISA Gravitational Wave Interferometer to push development of the required engineering building-blocks. We urge the Astro2020 Decadal Survey Committee to highlight the need for a small-scale formation flying space interferometer project to demonstrate end-to-end competency with a timeline for first stellar fringes by the end of the decade.

Gioia Rau↗
NASA NTRS2007

General Mission Analysis Tool (GMAT) Acceptance Test Plan [Draft]

The information presented in this Acceptance Test Plan document shows the current status of the General Mission Analysis Tool (GMAT). GMAT is a software system developed by NASA Goddard Space Flight Center (GSFC) in collaboration with the private sector. The GMAT development team continuously performs acceptance tests in order to verify that the software continues to operate properly after updates are made. The GMAT Development team consists of NASA/GSFC Code 583 software developers, NASA/GSFC Code 595 analysts, and contractors of varying professions. GMAT was developed to provide a development approach that maintains involvement from the private sector and academia, encourages collaborative funding from multiple government agencies and the private sector, and promotes the transfer of technology from government funded research to the private sector. GMAT contains many capabilities, such as integrated formation flying modeling and MATLAB compatibility. The propagation capabilities in GMAT allow for fully coupled dynamics modeling of multiple spacecraft, in any flight regime. Other capabilities in GMAT inclucle: user definable coordinate systems, 3-D graphics in any coordinate system GMAT can calculate, 2-D plots, branch commands, solvers, optimizers, GMAT functions, planetary ephemeris sources including DE405, DE200, SLP and analytic models, script events, impulsive and finite maneuver models, and many more. GMAT runs on Windows, Mac, and Linux platforms. Both the Graphical User Interface (GUI) and the GMAT engine were built and tested on all of the mentioned platforms. GMAT was designed for intuitive use from both the GUI and with an importable script language similar to that of MATLAB.

Dove, Edwin↗
NASA NTRS2008

Spacecraft Formation Control: Managing Line-of-Sight Drift Based on the Dynamics of Relative Motion

In a quest to improve space-based observational capability, an increasing number of investigators are proposing missions with precision formation flying architectures. Typical missions include the Micro- Arcsecond X-ray Imaging Mission (MAXIM), Stellar Imager (SI), and the New Worlds Observer (NWO). Missions designed to explore targets in deep-space generally require holding a formation configuration fixed in inertial space during science observation. Analysis in this paper is specifically aimed at the NWO architecture, characterizing the natural drift of the line-of-sight and the separation range for two spacecraft operating in the vicinity of the Earth/Moon-Sun L(sub 2) libration point. Analysis employs a linear form of the relative dynamics associated with an n-body gravity field. The study is designed to identify favorable observation directions, characterized by minimal line-of-sight drift, along the mission timeline.

Luquette, Richard J.↗
NASA NTRS2013

UltraSail CubeSat Solar Sail Flight Experiment

UltraSail is a next-generation, highrisk, high-payoff sail system for the launch, deployment, stabilization, and control of very large (km2 class) solar sails enabling high payload mass fractions for interplanetary and deep space spacecraft. UltraSail is a non-traditional approach to propulsion technology achieved by combining propulsion and control systems developed for formation- flying microsatellites with an innovative solar sail architecture to achieve controllable sail areas approaching 1 km2, sail subsystem area densities approaching 1 g/m2, and thrust levels many times those of ion thrusters used for comparable deep space missions. UltraSail can achieve outer planetary rendezvous, a deep-space capability now reserved for high-mass nuclear and chemical systems. There is a twofold rationale behind the UltraSail concept for advanced solar sail systems. The first is that sail-andboom systems are inherently size-limited. The boom mass must be kept small, and column buckling limits the boom length to a few hundred meters. By eliminating the boom, UltraSail not only offers larger sail area, but also lower areal density, allowing larger payloads and shorter mission transit times. The second rationale for UltraSail is that sail films present deployment handling difficulties as the film thickness approaches one micrometer. The square sail requires that the film be folded in two directions for launch, and similarly unfolded for deployment. The film is stressed at the intersection of two folds, and this stress varies inversely with the film thickness. This stress can cause the film to yield, forming a permanent crease, or worse, to perforate. By rolling the film as UltraSail does, creases are prevented. Because the film is so thin, the roll thickness is small. Dynamic structural analysis of UltraSail coupled with dynamic control analysis shows that the system can be designed to eliminate longitudinal torsional waves created while controlling the pitch of the blades, while using solar photon pressure to slew the spin axis. Vacuum tests have also verified that electrostatic and molecular adhesion forces can substantially be eliminated by making the film electrically conductive, reducing the peel force of the film off the storage roll to levels of 100s of micro-N. The innovation demonstrated the capability of deploying a six-micron aluminum- coated film from a reel through a slit in vacuum. The innovation also demonstrated a spin-stabilized method for deploying a long reel of solar sail film using solar pressure to spin-up and orbit raise the satellite, and also a gravity gradient method for deploying a long reel of solar sail film using solar pressure to orbit raise the satellite. The solar sail mass fraction of 25% is consistent with high specific impulse ion systems, but without the added weight and cost of a power source and processing unit. The large sail area, coupled with low film density, is giving UltraSail a high payload fraction. The UltraSail deployment scheme unrolls a micrometerscale reflection-coated polyimide film from a storage mandrel to a maximum length of several kilometers with the aid of a blade tip satellite.

Carroll, David↗
NASA NTRS2006

Pseudorandom Switching for Adding Radar to the AFF Sensor

A document describes the proposed addition of a radar function to the Autonomous Formation Flying Sensor, making possible coarse relative-position control to prevent collisions in the event of failure of one of the spacecraft. According to the proposal, in addition to tracking GPS-like one-way ranging signals transmitted by the other normally functioning spacecraft, each spacecraft could simultaneously track the reflection of its own ranging signal from a disabled, non-transmitting spacecraft. From the round-trip travel time, the approximate distance to the disabled spacecraft could be estimated. To prevent jamming of the receiver by the transmitter on the same spacecraft, the receiver would be switched off during transmission.

Tien, Jeffrey↗